Adwaith Vijayakumar
ABSTRACT
Vision based robot navigation relies on the image sequences that are captured by the camera attached to its platform. In many robotic applications such as in case of spherical robots used for surveillance, the platform on which the camera resides is often unsteady and unwanted relative motion exists between camera and scene. This unwanted relative motion in case of a spherical robot is due to the pitching motion associated with its platform called yoke. A depth estimation algorithm that handles the effect of pitching using non-linear observer approach is proposed. The object in the scene whose depth is to be estimated is detected as features in the acquired images and are tracked by using concepts of optical flow. A discrete time state space model that fuses the information from camera and IMU data attached to the unsteady platform of spherical robot is derived. Extended Kalman filter (EKF) is used as the non-linear estimation technique for extraction of depth information from the proposed state space model. The convergence aspects of the extended Kalman filter when used as a deterministic observer for the proposed non-linear discrete-time model is analyzed with local observability and it is shown that there is boundedness of error covariance between the observed and actual depth. It is shown that the estimation error converges to zero irrespective of the initialization provided to the observer.
- Jakob Engel, Thomas Schöps, and Daniel Cremers. LSD-SLAM: Large-scale direct monocular SLAM. In European Conference on Computer Vision, pages 834--849. Springer, 2014.Google Scholar
Cross Ref
- Zhenfei Yang and Shaojie Shen. Monocular visual--inertial state estimation with online initialization and camera--IMU extrinsic calibration. IEEE Transactions on Automation Science and Engineering, 14(1):39--51, 2017.Google ScholarCross Ref
- Jan Smisek, Michal Jancosek, and Tomas Pajdla. 3d with kinect. In Consumer depth cameras for computer vision, pages 3--25. Springer, 2013.Google ScholarCross Ref
- Vikranth Reddy D. Dhiraj Gandhi Leena Vachhani, Shantanu Thakar and Akshay Khatri. Design and development of a gearless spherical robot, Dec 2015. IPA No. 4717/MUM/2015.Google Scholar
- Ruo Zhang, Ping-Sing Tsai, James Edwin Cryer, and Mubarak Shah. Shape-from-shading: a survey. IEEE transactions on pattern analysis and machine intelligence, 21(8):690--706, 1999.Google Scholar
- B. J. Super and A. C. Bovik. Shape from texture using local spectral moments. IEEE Transactions on Pattern Analysis and Machine Intelligence, 17(4):333--343, April 1995.Google ScholarDigital Library
- Ilan Shimshoni, Yael Moses, and Michael Lindenbaum. Shape reconstruction of 3d bilaterally symmetric surfaces. International Journal of Computer Vision, 39(2):97--110, 2000.Google ScholarDigital Library
- Kevin Karsch, Ce Liu, and Sing Bing Kang. Depth transfer: Depth extraction from video using non-parametric sampling. IEEE transactions on pattern analysis and machine intelligence, 36(11):2144--2158, 2014.Google Scholar
- Lubor Ladicky, Jianbo Shi, and Marc Pollefeys. Pulling things out of perspective. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pages 89--96, 2014.Google ScholarDigital Library
- Fayao Liu, Chunhua Shen, Guosheng Lin, and Ian D Reid. Learning depth from single monocular images using deep convolutional neural fields. IEEE Trans. Pattern Anal. Mach. Intell., 38(10):2024--2039, 2016.Google ScholarDigital Library
- Dan Xu, Elisa Ricci, Wanli Ouyang, Xiaogang Wang, and Nicu Sebe. Monocular depth estimation using multi-scale continuous CRFs as sequential deep networks. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2018.Google Scholar
- Clément Godard, Oisin Mac Aodha, and Gabriel J Brostow. Unsupervised monocular depth estimation with left-right consistency. In CVPR, volume 2, page 7, 2017.Google ScholarCross Ref
- Tong Qin, Peiliang Li, and Shaojie Shen. VINS-mono: A robust and versatile monocular visual-inertial state estimator. IEEE Transactions on Robotics, 34(4):1004--1020, 2018.Google ScholarDigital Library
- David A Forsyth and Jean Ponce. A modern approach. Computer vision: a modern approach, 2003.Google Scholar
- Yongkyu Song and Jessy W Grizzle. The extended Kalman filter as a local asymptotic observer for non-linear discrete-time systems. In American Control Conference, 1992, pages 3365--3369. IEEE, 1992.Google ScholarCross Ref
- Chris Harris and Mike Stephens. A combined corner and edge detector. In Alvey vision conference, volume 15, pages 10--5244. Citeseer, 1988.Google ScholarCross Ref
- Bruce D. Lucas and Takeo Kanade. An iterative image registration technique with an application to stereo vision. In Proceedings of the 7th International Joint Conference on Artificial Intelligence - Volume 2, IJCAI'81, pages 674--679, San Francisco, CA, USA, 1981. Morgan Kaufmann Publishers Inc.Google ScholarDigital Library
- J Deyst and C Price. Conditions for asymptotic stability of the discrete minimum-variance linear estimator. IEEE Transactions on Automatic Control, 13(6):702--705, 1968.Google ScholarCross Ref
- Lei Chen, Junhong Li, and Ruifeng Ding. Identification for the second-order systems based on the step response. Mathematical and computer modelling, 53(5-6):1074--1083, 2011.Google Scholar
- Jean-Yves Bouguet. Pyramidal implementation of the affine lucas kanade feature tracker description of the algorithm. Intel Corporation, 5(1-10):4, 2001.Google Scholar
Index Terms
- Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot
Recommendations
Depth estimation using Stereo Light Field Camera✱
ICVGIP '22: Proceedings of the Thirteenth Indian Conference on Computer Vision, Graphics and Image ProcessingLight field imaging has emerged as a new modality, enabling to capture the angular and spatial information of a scene. This additional angular information is used to estimate the depth of a 3-D scene. The continuum of virtual view-points in light field ...
Real-time camera pose estimation via line tracking
Real-time camera calibration has been intensively studied in augmented reality. However, for texture-less and texture-repeated scenes as well as poorly illuminated scenes, obtaining a stable calibration is still an open problem. In the paper, we propose ...
Two-state trajectory tracking control of a spherical robot using neurodynamics
Spherical robot is a special kind of nonholonomic system that cannot be converted to chained form, which means most of the well-known control methodologies are not suitable for this system. For the trajectory tracking of BHQ-1, a spherical robot ...
Comments